RGB-D methods.
A template matching method which integrates color and depth information is proposed by Hinterstoisser et al. [1]}, [2]}.
Templates are built with quantized image gradients on object contour from RGB information and surface normals on object interior from depth information, and annotated with viewpoint information.
The effectiveness of template matching is also shown in [3]}, [4]}.
However, template matching methods are sensitive to occlusions [5]}.
